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<div class="title">Homography33.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//-*-c++-*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160; </div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#ifndef HOMOGRAPHY33_H</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#define HOMOGRAPHY33_H</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// interpolate points instead of using homography</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#define INTERPOLATE</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">// use stable version of homography recover (opencv, includes refinement step)</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#define STABLE_H</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  DEPRECATED - DEPRECATED - DEPRECATED - DEPRECATED</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  use TagDetection::getRelativeTransform() instead</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  y = Hx (y = image coordinates in homogeneous coordinates, H = 3x3</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  homography matrix, x = homogeneous 2D world coordinates)</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  For each point correspondence, constrain y x Hx = 0 (where x is</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  cross product). This means that they have the same direction, and</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  ignores scale factor.</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  We rewrite this as Ah = 0, where h is the 9x1 column vector of the</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  elements of H. Each point correspondence gives us 3 equations of</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  rank 2. The solution h is the minimum right eigenvector of A,</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  which we can obtain via SVD, USV&#39; = A. h is the right-most column</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  of V&#39;.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *  We will actually maintain A&#39;A internally, which is 9x9 regardless</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *  of how many correspondences we&#39;re given, and has the same</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> *  eigenvectors as A.</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classHomography33.html">   41</a></span>&#160;<span class="keyword">class </span><a class="code" href="classHomography33.html">Homography33</a> {</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="classHomography33.html#a73a0a27464663eeba0adc76f4dfedd4e">Homography33</a>(<span class="keyword">const</span> std::pair&lt;float,float&gt; &amp;opticalCenter);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#ifdef STABLE_H</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">void</span> setCorrespondences(<span class="keyword">const</span> std::vector&lt; std::pair&lt;float,float&gt; &gt; &amp;srcPts,</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                          <span class="keyword">const</span> std::vector&lt; std::pair&lt;float,float&gt; &gt; &amp;dstPts);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">void</span> addCorrespondence(<span class="keywordtype">float</span> worldx, <span class="keywordtype">float</span> worldy, <span class="keywordtype">float</span> imagex, <span class="keywordtype">float</span> imagey);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  Eigen::Matrix3d&amp; <a class="code" href="classHomography33.html#aecfe06942d1f56390d7c7d8ad0452def">getH</a>();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">const</span> std::pair&lt;float,float&gt; getCXY()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> cxy; }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">void</span> compute();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  std::pair&lt;float,float&gt; project(<span class="keywordtype">float</span> worldx, <span class="keywordtype">float</span> worldy);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  std::pair&lt;float,float&gt; cxy;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  Eigen::Matrix&lt;double,9,9&gt; fA;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  Eigen::Matrix3d H;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">bool</span> valid;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#ifdef STABLE_H</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  std::vector&lt; std::pair&lt;float,float&gt; &gt; srcPts, dstPts;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;};</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassHomography33_html"><div class="ttname"><a href="classHomography33.html">Homography33</a></div><div class="ttdoc">Compute 3x3 homography using Direct Linear Transform.</div><div class="ttdef"><b>Definition:</b> Homography33.h:41</div></div>
<div class="ttc" id="aclassHomography33_html_a73a0a27464663eeba0adc76f4dfedd4e"><div class="ttname"><a href="classHomography33.html#a73a0a27464663eeba0adc76f4dfedd4e">Homography33::Homography33</a></div><div class="ttdeci">Homography33(const std::pair&lt; float, float &gt; &amp;opticalCenter)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> Homography33.cc:11</div></div>
<div class="ttc" id="aclassHomography33_html_aecfe06942d1f56390d7c7d8ad0452def"><div class="ttname"><a href="classHomography33.html#aecfe06942d1f56390d7c7d8ad0452def">Homography33::getH</a></div><div class="ttdeci">Eigen::Matrix3d &amp; getH()</div><div class="ttdoc">Note that the returned H matrix does not reflect cxy.</div><div class="ttdef"><b>Definition:</b> Homography33.cc:16</div></div>
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